# this message contains the (relative) timestamps of the sensor inputs used by
# ekf2. It can be used for reproducible replay.

# the timestamp field (auto-generated) is the ekf2 reference time and matches
# the timestamp of the sensor_combined topic.


int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
                                         # is set to this value, it means the associated sensor values did not update

# timestamps are relative to the main timestamp and are in 0.1 ms (timestamp +
# *_timestamp_rel = absolute timestamp). For int16, this allows a maximum
# difference of +-3.2s to the sensor_combined topic.


int16 gps_timestamp_rel
int16 optical_flow_timestamp_rel
int16 distance_sensor_timestamp_rel
int16 airspeed_timestamp_rel
int16 vision_position_timestamp_rel
int16 vision_attitude_timestamp_rel

# Note: this is a high-rate logged topic, so it needs to be as small as possible